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<div class="title">ensenso_grabber.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *  Author: Victor Lamoine (victor.lamoine@gmail.com)</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef __PCL_IO_ENSENSO_GRABBER__</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define __PCL_IO_ENSENSO_GRABBER__</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2time_8h.html">pcl/common/time.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/io/eigen.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;Eigen/StdVector&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/io/boost.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;boost/thread.hpp&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;boost/lexical_cast.hpp&gt;</span> <span class="comment">// TODO: Remove when setExtrinsicCalibration is fixed</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/io/grabber.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/common/synchronizer.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;nxLib.h&gt;</span> <span class="comment">// Ensenso SDK</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">struct </span>PointXYZ;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keyword">class </span><a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html">   69</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_ensenso_grabber.html">EnsensoGrabber</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_grabber.html">Grabber</a></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> std::pair&lt;pcl::PCLImage, pcl::PCLImage&gt; PairOfImages;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;EnsensoGrabber&gt; Ptr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const EnsensoGrabber&gt; ConstPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="comment">// Define callback signature typedefs</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      (sig_cb_ensenso_point_cloud) (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr &amp;);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      (sig_cb_ensenso_images) (<span class="keyword">const</span> boost::shared_ptr&lt;PairOfImages&gt; &amp;);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">typedef</span> void</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      (sig_cb_ensenso_point_cloud_images) (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr &amp;,</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                                           <span class="keyword">const</span> boost::shared_ptr&lt;PairOfImages&gt; &amp;);</div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#adb464c16c81b88c2242a727355a712c3">   91</a></span>&#160;      <a class="code" href="classpcl_1_1_ensenso_grabber.html#adb464c16c81b88c2242a727355a712c3">EnsensoGrabber</a> ();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a81409fa462be9fcd5bdc6180468d1811">   95</a></span>&#160;      <a class="code" href="classpcl_1_1_ensenso_grabber.html#a81409fa462be9fcd5bdc6180468d1811">~EnsensoGrabber</a> () throw ();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a592b99cc59683f533b8135dfa3893565">  100</a></span>&#160;      enumDevices () const;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a4cf25748d5a2443f346f5b031cdd1657">  106</a></span>&#160;      openDevice (const <span class="keywordtype">int</span> device = 0);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a1b186f84307302e2bfbd136eb48216b8">  111</a></span>&#160;      closeDevice ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a3b10963e90c7a2acc28016ca7036917f">  116</a></span>&#160;      start ();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a0894a295e1a6a1caea9ef57a3920a8ad">  120</a></span>&#160;      stop ();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a11cc4775131a8a8d794fd58136799365">  125</a></span>&#160;      isRunning () const;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#ac546d3496604f572c8d01626e176071d">  130</a></span>&#160;      isTcpPortOpen () const;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a801aec7e16af3ae34bf020d2d8e1b898">  135</a></span>&#160;      getName () const;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#afe821d292fc44e53dbc6bf80f60c5dc2">  156</a></span>&#160;      configureCapture (const <span class="keywordtype">bool</span> auto_exposure = true,</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                        const <span class="keywordtype">bool</span> auto_gain = true,</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                        const <span class="keywordtype">int</span> bining = 1,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                        const <span class="keywordtype">float</span> exposure = 0.32,</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                        const <span class="keywordtype">bool</span> front_light = false,</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                        const <span class="keywordtype">int</span> gain = 1,</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                        const <span class="keywordtype">bool</span> gain_boost = false,</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                        const <span class="keywordtype">bool</span> hardware_gamma = false,</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                        const <span class="keywordtype">bool</span> hdr = false,</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                        const <span class="keywordtype">int</span> pixel_clock = 10,</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                        const <span class="keywordtype">bool</span> projector = true,</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                        const <span class="keywordtype">int</span> target_brightness = 80,</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                        const std::<span class="keywordtype">string</span> trigger_mode = &quot;Software&quot;,</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                        const <span class="keywordtype">bool</span> use_disparity_map_area_of_interest = false) const;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a93f01b7890457a2ce394755be3923423">  176</a></span>&#160;      grabSingleCloud (pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;pcl::<a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>&gt; &amp;cloud);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#acc89fb7d03dbb844813e1ae6c1e457f3">  190</a></span>&#160;      initExtrinsicCalibration (const <span class="keywordtype">int</span> grid_spacing) const;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#ac8bacd55a7b6dcee6f15dc6ac5806104">  194</a></span>&#160;      clearCalibrationPatternBuffer () const;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#ad138d12b4b5d658736db944553971c3f">  201</a></span>&#160;      captureCalibrationPattern () const;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a33129cceb52294317a18eb529468d07a">  209</a></span>&#160;      estimateCalibrationPatternPose (Eigen::Affine3d &amp;pattern_pose) const;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a2277fe79f8aca23bac888523f1bfa0f9">  223</a></span>&#160;      computeCalibrationMatrix (const std::vector&lt;Eigen::Affine3d, Eigen::aligned_allocator&lt;Eigen::Affine3d&gt; &gt; &amp;robot_poses,</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                                std::<span class="keywordtype">string</span> &amp;json,</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                                const std::<span class="keywordtype">string</span> setup = &quot;Moving&quot;,  <span class="comment">// Default values: Moving or Fixed</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                                const std::<span class="keywordtype">string</span> target = &quot;Hand&quot;,  <span class="comment">// Default values: Hand or Workspace</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                                const Eigen::Affine3d &amp;guess_tf = Eigen::Affine3d::Identity (),</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                                const <span class="keywordtype">bool</span> pretty_format = true) const;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a2e05aa2b2632d96e985cfe8d4e373676">  236</a></span>&#160;      storeEEPROMExtrinsicCalibration () const;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a6df93f62e9f56e9174df5db76fcc3afa">  241</a></span>&#160;      clearEEPROMExtrinsicCalibration ();</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a2063306cd947f67ab5a55fcfe550ee8b">  260</a></span>&#160;      setExtrinsicCalibration (const <span class="keywordtype">double</span> euler_angle,</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                               Eigen::Vector3d &amp;rotation_axis,</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                               const Eigen::Vector3d &amp;translation,</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                               const std::<span class="keywordtype">string</span> target = &quot;Hand&quot;);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#aef5f7e530c2b84b4b11644343938d664">  269</a></span>&#160;      setExtrinsicCalibration (const std::<span class="keywordtype">string</span> target = &quot;Hand&quot;);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00286"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#ae7eabb8ccc69bc16debfa054fbc52fb0">  286</a></span>&#160;      setExtrinsicCalibration (const Eigen::Affine3d &amp;transformation,</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                               const std::<span class="keywordtype">string</span> target = &quot;Hand&quot;);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00291"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#ac5300dcc9514469836ae02e3b6d47472">  291</a></span>&#160;      getFramesPerSecond () const;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#add59b06d6b02aceaae73ef3c87db0373">  297</a></span>&#160;      openTcpPort (const <span class="keywordtype">int</span> port = 24000);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a34b631b996aa4e3364dccaa9d2bb4309">  304</a></span>&#160;      closeTcpPort (<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a6c6ce919164aa4d59180908a2241bfb4">  310</a></span>&#160;      getTreeAsJson (const <span class="keywordtype">bool</span> pretty_format = true) const;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00317"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#aa437c818b8d3a198cfc396929a30b2dd">  317</a></span>&#160;      getResultAsJson (const <span class="keywordtype">bool</span> pretty_format = true) const;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00332"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#ae9dc248e5eccfbcbe870b0ffc7f9c504">  332</a></span>&#160;      jsonTransformationToEulerAngles (const std::<span class="keywordtype">string</span> &amp;json,</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;                                       <span class="keywordtype">double</span> &amp;x,</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;                                       <span class="keywordtype">double</span> &amp;y,</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;                                       <span class="keywordtype">double</span> &amp;z,</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;                                       <span class="keywordtype">double</span> &amp;w,</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                                       <span class="keywordtype">double</span> &amp;p,</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;                                       <span class="keywordtype">double</span> &amp;r) const;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a26f4375470cf58ff889667257463c090">  350</a></span>&#160;      jsonTransformationToAngleAxis (const std::<span class="keywordtype">string</span> json,</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                                     <span class="keywordtype">double</span> &amp;alpha,</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                                     Eigen::Vector3d &amp;axis,</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                                     Eigen::Vector3d &amp;translation) const;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00364"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#ac5a855363a529e1212eecd6bdfc34742">  364</a></span>&#160;      jsonTransformationToMatrix (const std::<span class="keywordtype">string</span> transformation,</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;                                  Eigen::Affine3d &amp;matrix) const;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00382"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a98b41658b9744fa11105dc65ed9f7cb2">  382</a></span>&#160;      eulerAnglesTransformationToJson (const <span class="keywordtype">double</span> x,</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;                                       const <span class="keywordtype">double</span> y,</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;                                       const <span class="keywordtype">double</span> z,</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;                                       const <span class="keywordtype">double</span> w,</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;                                       const <span class="keywordtype">double</span> p,</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;                                       const <span class="keywordtype">double</span> r,</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;                                       std::<span class="keywordtype">string</span> &amp;json,</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;                                       const <span class="keywordtype">bool</span> pretty_format = true) const;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00406"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a3c49ec5a1642ccfa7b470a2e86ca5fd5">  406</a></span>&#160;      angleAxisTransformationToJson (const <span class="keywordtype">double</span> x,</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;                                     const <span class="keywordtype">double</span> y,</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;                                     const <span class="keywordtype">double</span> z,</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;                                     const <span class="keywordtype">double</span> rx,</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;                                     const <span class="keywordtype">double</span> ry,</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;                                     const <span class="keywordtype">double</span> rz,</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;                                     const <span class="keywordtype">double</span> alpha,</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;                                     std::<span class="keywordtype">string</span> &amp;json,</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;                                     const <span class="keywordtype">bool</span> pretty_format = true) const;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00425"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a8dfa1c0930f95fcb8601297d678176b6">  425</a></span>&#160;      matrixTransformationToJson (const Eigen::Affine3d &amp;matrix,</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;                                  std::<span class="keywordtype">string</span> &amp;json,</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;                                  const <span class="keywordtype">bool</span> pretty_format = true) const;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#acb694e94e1e8256dcc8a2f8b296f3ee2">  432</a></span>&#160;      boost::shared_ptr&lt;const NxLibItem&gt; root_;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a3d5d6d55a5871455fe5f21e3821fe3a9">  436</a></span>&#160;      NxLibItem camera_;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    protected:</div>
<div class="line"><a name="l00440"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a4cc87ad6be4e7bd5988fc13d7bff8178">  440</a></span>&#160;      boost::thread grabber_thread_;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a2e6338f221f5e6fa2d214d764da01bb7">  443</a></span>&#160;      boost::signals2::signal&lt;sig_cb_ensenso_point_cloud&gt;* point_cloud_signal_;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00446"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a1e68897d92342fae0f029e89a8a113bd">  446</a></span>&#160;      boost::signals2::signal&lt;sig_cb_ensenso_images&gt;* images_signal_;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a51c385ebf68613e0796936e2829077ac">  449</a></span>&#160;      boost::signals2::signal&lt;sig_cb_ensenso_point_cloud_images&gt;* point_cloud_images_signal_;</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00452"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#afa663d24ad3184066a825b2b5b11ecf4">  452</a></span>&#160;      <span class="keywordtype">bool</span> device_open_;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#aa3be373b75cb4b16a3e7ecc1835d0b23">  455</a></span>&#160;      <span class="keywordtype">bool</span> tcp_open_;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00458"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#aff48a03fa934f94f4b989f47176671ca">  458</a></span>&#160;      <span class="keywordtype">bool</span> running_;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00461"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#ac068717957d8173fd3cab3b81d00642f">  461</a></span>&#160;      pcl::<a class="code" href="classpcl_1_1_event_frequency.html">EventFrequency</a> frequency_;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a5199279cd4dedb67013f38386ae11d83">  464</a></span>&#160;      mutable boost::mutex fps_mutex_;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      pcl::uint64_t</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;      static</div>
<div class="line"><a name="l00473"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a6fbd5b77840cea6b5ed0da8c55161370">  473</a></span>&#160;      getPCLStamp (const <span class="keywordtype">double</span> ensenso_stamp);</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      static</div>
<div class="line"><a name="l00482"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a60b5d1aa0bd6825dbe3ce3b15961596f">  482</a></span>&#160;      getOpenCVType (const <span class="keywordtype">int</span> channels,</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;                     const <span class="keywordtype">int</span> bpe,</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;                     const <span class="keywordtype">bool</span> isFlt);</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00490"></a><span class="lineno"><a class="line" href="classpcl_1_1_ensenso_grabber.html#a9cf97b0d7ccfe7cf0e3a879d333dd8ba">  490</a></span>&#160;      processGrabbing ();</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;  };</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;}  <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160; </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __PCL_IO_ENSENSO_GRABBER__</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_ensenso_grabber_html"><div class="ttname"><a href="classpcl_1_1_ensenso_grabber.html">pcl::EnsensoGrabber</a></div><div class="ttdoc">Grabber for IDS-Imaging Ensenso's devices. The Ensenso SDK allow to use multiple Ensenso devices to p...</div><div class="ttdef"><b>Definition:</b> ensenso_grabber.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_ensenso_grabber_html_a81409fa462be9fcd5bdc6180468d1811"><div class="ttname"><a href="classpcl_1_1_ensenso_grabber.html#a81409fa462be9fcd5bdc6180468d1811">pcl::EnsensoGrabber::~EnsensoGrabber</a></div><div class="ttdeci">virtual ~EnsensoGrabber()</div><div class="ttdoc">Destructor inherited from the Grabber interface. It never throws.</div></div>
<div class="ttc" id="aclasspcl_1_1_ensenso_grabber_html_adb464c16c81b88c2242a727355a712c3"><div class="ttname"><a href="classpcl_1_1_ensenso_grabber.html#adb464c16c81b88c2242a727355a712c3">pcl::EnsensoGrabber::EnsensoGrabber</a></div><div class="ttdeci">EnsensoGrabber()</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1_event_frequency_html"><div class="ttname"><a href="classpcl_1_1_event_frequency.html">pcl::EventFrequency</a></div><div class="ttdoc">A helper class to measure frequency of a certain event.</div><div class="ttdef"><b>Definition:</b> time.h:152</div></div>
<div class="ttc" id="aclasspcl_1_1_grabber_html"><div class="ttname"><a href="classpcl_1_1_grabber.html">pcl::Grabber</a></div><div class="ttdoc">Grabber interface for PCL 1.x device drivers</div><div class="ttdef"><b>Definition:</b> grabber.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="acommon_2time_8h_html"><div class="ttname"><a href="common_2time_8h.html">time.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
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